#include <carma/loberotator/Loberotator.h>

Inheritance diagram for carma::loberotator::Loberotator:

Public Member Functions
void	assignWalshColumn (const loberotator::LoberotatorControl::WalshAssignmentSeq &walshAssignments)

void	enable180PhaseSwitching (CORBA::Long chan, bool state)

void	enable90PhaseSwitching (CORBA::Long chan, bool state)

void	enableDDS (CORBA::Long chan, bool state)

void	enableDDSfringeTracking (CORBA::Long chan, bool state)

void	enableFringeTracking (CORBA::Long chan, bool state)

void	enableFringeTracking (bool state)

void	enablePhaseSwitching (CORBA::Long chan, bool state)

void	enableTrace (CORBA::Long chan, bool enable)

void	enableUpdate (bool enable)

void	hardReset ()

void	loadPhaseSwitchColumn (CORBA::Long inputId, CORBA::Short columnId)

	Loberotator (carma::canbus::nodeType node, carma::loberotator::LoberotatorMaster master, carma::monitor::LoberotatorSubsystem mon)
	Constructor for a loberotator channel. More...

void	resetBoard (CORBA::Long BoardNo)

void	sendMulDiv ()
	Send multiplier/divisor for this channel to the CANnode. More...

void	sendPhaseAndRate ()
	Send phase and rates for this channel to the CANnode. More...

void	setOffsetControl (CORBA::Long chan, bool state)

void	setOffsetControl (bool state)

void	setOffsetPhase (CORBA::Long chan, double phaseOffset)

void	setOffsetPhase (double phaseOffset)

void	setOffsetRate (CORBA::Long chan, double rateOffset)

void	setOffsetRate (double rateOffset)

void	updateDelayAndFreq (const loberotator::LoberotatorControl::DelayFreqPacket &delayFreq)

void	updatePhaseAndRate ()
	Compute phase and rates for this channel and leave internally. More...

virtual	~Loberotator ()
	Destructor. More...

Public Member Functions inherited from carma::canbus::devices::XacDevice
bool	isOnline ()
	Is Device ONLINE? More...

void	reset ()
	Reset the can module via CORBA using Device::softReset() method. More...

virtual void	setState (deviceStateType state)
	Set the state of the device. More...

void	startChannelOneFastSampling (unsigned short fastItem)
	Start fast sampling on channel one with the requested data item. More...

void	startChannelTwoFastSampling (unsigned short fastItem)
	Start fast sampling on channel two with the requested data item. More...

void	stopChannelOneFastSampling ()
	Stop fast sampling on channel one. More...

void	stopChannelTwoFastSampling ()
	Stop fast sampling on channel two. More...

	XacDevice (carma::canbus::apiType api, carma::canbus::nodeType node, carma::canbus::CanOutput &canOutput)
	Constructor. More...

virtual	~XacDevice ()
	Destructor. More...

Public Member Functions inherited from carma::canbus::Device
carma::canbus::Message	createDummyMsg () const
	Create a dummy CAN message. More...

carma::canbus::Message	createMsgToAllNodes (msgType messageId) const
	Create a CAN message addressed to all nodes of this type. More...

carma::canbus::Message	createMsgToHost (msgType messageId) const
	Create a CAN message addressed from this Device to the host. More...

carma::canbus::Message	createMsgToNode (msgType messageId) const
	Create a CAN message addressed to this device from the host. More...

	Device (apiType api, nodeType node, CanOutput &io)
	Device constructor. More...

apiType	getApi () const
	Return api code of device. More...

char	getApiVersion () const
	Get API Version of this Device. More...

boardType	getBoardType () const
	Return board type id of device. More...

busIdType	getBusId () const
	Return bus Id that node resides on. More...

virtual MsgIdInfoMap	getControls () const
	Return a map of devices controls. More...

keyType	getKey () const
	Create a key unique to this api and node. More...

double	getLastRxTime () const
	Get Last RX Time for device. More...

unsigned int	getNlatePackets () const
	Get number of late packets. More...

nodeType	getNode () const
	Return node location code of device. More...

serialNumberType	getSerialNumber () const
	Return serial number of device. More...

deviceStateType	getState () const
	Status access routine. More...

void	reset ()
	Perform a software reset of module. More...

void	setBoardType (boardType bt)
	Set board type of device. More...

void	setBusId (busIdType busId)
	Set busId of device. More...

virtual void	setLastRxTime (double rxMjd)
	Set latest rx time. More...

void	setSerialNumber (serialNumberType sn)
	Set serial number of device. More...

void	startChannelOneFastSampling (unsigned short fastItem)
	Start fast sampling the specified data item on channel 1. More...

void	startChannelTwoFastSampling (unsigned short fastItem)
	Start fast sampling the specified data item on channel 2. More...

void	stopChannelOneFastSampling ()
	Stop fast sampling on channel 1 This routine will stop fast sampling on channel 1 regardless of whether this node is fast sampling the channel or not! In other words the request goes out globally. More...

void	stopChannelTwoFastSampling ()
	Stop fast sampling on channel 2 This routine will stop fast sampling on channel 2 regardless of whether this node is fast sampling the channel or not! In other words the request goes out globally. More...

virtual void	updateFrameData ()
	Update device or monitor data on frame timescale... More...

virtual	~Device ()
	Device destructor. More...

Public Member Functions inherited from carma::util::PhaseSwitchingImpl
PhaseSwitchTable *	getPhaseTable180 ()

PhaseSwitchTable *	getPhaseTable90 ()

void	loadPhaseSwitchTable (CORBA::Long numColumns, CORBA::Long numRows90, const carma::util::PhaseTable &phaseTable90, CORBA::Long numRows180, const carma::util::PhaseTable &phaseTable180)

	PhaseSwitchingImpl ()
	Constructor Creates phase switching tables that are the CARMA default. More...

virtual	~PhaseSwitchingImpl ()
	Destructor. More...

Public Member Functions inherited from carma::util::Observable
int	getNumObservers ()
	Get the number of registered observers. More...

void	notifyObservers ()
	Notify all registered Observers, by calling Observer::observerUpdate() More...

	Observable ()
	Constructor. More...

void	registerObserver (Observer &observer)
	Register an Observer object to be notified when event occurs. More...

std::vector< int >	registryIds ()
	Put all regIDs into a vector. More...

std::string	registryToString ()
	Put all regIDs into a single line string. More...

void	unregisterObserver (Observer &observer)
	Unregister an Observer object. More...

virtual	~Observable ()
	Destructor. More...

Additional Inherited Members
Static Public Member Functions inherited from carma::canbus::Device
static keyType	createKey (apiType api, nodeType node)

Static Public Attributes inherited from carma::canbus::devices::XacDevice
static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_1 = 0x120

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_2 = 0x121

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_3 = 0x122

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_4 = 0x123

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_5 = 0x124

Protected Member Functions inherited from carma::canbus::devices::XacDevice
virtual void	initialize ()
	Initialization hook. More...

void	processSystemMonitorPacket (carma::canbus::msgType mid, carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process a system monitor packet. More...

void	processSystemMonitorPacket1 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 1 This routine processes standard system monitor packet 1 and places the data into the input Xac reference. More...

void	processSystemMonitorPacket2 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 2. More...

void	processSystemMonitorPacket3 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 3. More...

void	processSystemMonitorPacket4 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 4. More...

void	processSystemMonitorPacket5 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 5. More...

carma::canbus::Message	simSystemMonitorPacket (carma::canbus::msgType mid)
	Simulate system monitor packet. More...

carma::canbus::Message	simSystemMonitorPacket1 ()
	Simulate System Monitor Packet 1. More...

carma::canbus::Message	simSystemMonitorPacket2 ()
	Simulate System Monitor Packet 2. More...

carma::canbus::Message	simSystemMonitorPacket3 ()
	Simulate System Monitor Packet 3. More...

carma::canbus::Message	simSystemMonitorPacket4 ()
	Simulate System Monitor Packet 4. More...

carma::canbus::Message	simSystemMonitorPacket5 ()
	Simulate System Monitor Packet 5. More...

Protected Member Functions inherited from carma::canbus::Device
void	incrementLatePacketCount ()
	Increment the late packet count by 1. More...

bool	isPacketLate (double window=100.0)
	Determine if the last packet sent from this device was late. More...

void	resetLatePacketCount ()
	Reset the late packet count to 0. More...

void	setApiVersion (char api)
	Set API Version. More...

Static Protected Member Functions inherited from carma::canbus::devices::XacDevice
static bool	isSystemMonitorPacket (carma::canbus::msgType)
	Check that input message type is a system monitor packet. More...

Protected Attributes inherited from carma::canbus::Device
const apiType	api_

CanOutput &	io_
	Reference to CanOutput object. More...

const keyType	key_

const nodeType	node_

Static Protected Attributes inherited from carma::canbus::Device
static const msgType	RESET = 0x0000
	Software reset message id. More...

static const msgType	START_CHANNEL_1_FAST_SAMPLING = 0x0004
	Begin channel 1 fast sampling message id. More...

static const msgType	START_CHANNEL_2_FAST_SAMPLING = 0x0005
	Begin channel 2 fast sampling message id. More...

static const msgType	STOP_CHANNEL_1_FAST_SAMPLING = 0x0002
	Stop channel 1 fast sampling message id. More...

static const msgType	STOP_CHANNEL_2_FAST_SAMPLING = 0x0003

Detailed Description

Loberotator implementation.

This class implements:

Definition at line 114 of file Loberotator.h.

Constructor & Destructor Documentation

carma::loberotator::Loberotator::Loberotator	(	carma::canbus::nodeType	node,
		carma::loberotator::LoberotatorMaster *	master,
		carma::monitor::LoberotatorSubsystem *	mon
	)

Constructor for a loberotator channel.

Creates a Loberotator device with the given node id. This is a single loberotator channel that is implemented in hardware by a single DDS (Direct Digital Synthesizer). There are four DDS channels per loberotator board, with each board having an XAC. The XAC communications is non-standard: each board is assigned an address in groups of four, so that the boards have base addresses of 1,5,9... Each individual DDS is command addressable using the four addresses assigned to the board. The monitor packets are only sent back for the base address and contain info for all 4 DDS channels.
The CORBA commands are all handled by the "Global" loberotator, which is assigned node address zero. The implementation gets the channel number from the command and then invokes the command on on the appropriate DDS. The individual Loberotator objects are used to hold control information specific to that device.

Parameters

node	Node id of device.
mon	Pointer to monitor subsystem for passing back monitor information.

virtual carma::loberotator::Loberotator::~Loberotator ( )

virtual

Destructor.

Member Function Documentation

void carma::loberotator::Loberotator::sendMulDiv ( )

Send multiplier/divisor for this channel to the CANnode.

void carma::loberotator::Loberotator::sendPhaseAndRate ( )

Send phase and rates for this channel to the CANnode.

void carma::loberotator::Loberotator::updatePhaseAndRate ( )

Compute phase and rates for this channel and leave internally.

The documentation for this class was generated from the following file:

carma/loberotator/Loberotator.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation